ResiPlan: Closing the Planning-Acting Loop for Safe Underwater Navigation
Marios Xanthidis,Eleni Kelasidi,Kostas Alexis,Marios Xanthidis,Eleni Kelasidi,Kostas Alexis
Autonomous operation in underwater environ-ments is, arguably, one of the most complex domains. It requires safe operations under the presence of unpredictable surge, currents, uncertainty, and dynamic obstacles that challenges to the highest degree real-time motion planning; the primary focus of this paper. Although previous work addressed the problem of safe real-time 3D navigation in cluttered ...
